Motion Planning of Quadruped Robot Using Potential Field

In motion planning, there are two main emerged directions which are inverse kinematics and control. In this paper, we present the derivation of motion control for a quadruped robot. We proposed inverse kinematics for obstacle avoidance trajectory planning using potential fields. The proposed inverse kinematics is capable of solving a wide range of complex movement skills to quadruped and provides robustness to the singularity configuration. In the control part, we derived LQR control of linearized inverse dynamics with constraints. The proposed algorithm is tested in various experiment cases in both fixed and free moving of center mass(CoM).